function graphic = setup_graphic(landmark, action)

%  function graphic = setup_graphic(landmark, action)
%
% Setup the 3D graphic display that represent the 3D map and (later)
% the MCU pose. The graphic is initialize by drawing the landmarks and
% the action points using information given to the function call

figure
scatter3(landmark(1,:), landmark(2,:), landmark(3,:),'g*') % true position of the landmarks
xlabel('X')
ylabel('Y')
zlabel('Z')
hold on, axis equal
scatter3(action(1,:),action(2,:),action(3,:),'ro') % true position of the action points
plot3(action(1,:),action(2,:),action(3,:),':') % link action points with lines

graphic.MCU_xt1 = patch(0, 0, 0, 'y','erasemode','xor');  % MCU graphic (true)
graphic.MCU_xt2 = patch(0, 0, 0, 'g','erasemode','xor'); 

graphic.MCU_xt1_est = patch(0, 0, 0, 'b','erasemode','xor');  % MCU graphic (estimate)
graphic.MCU_xt2_est = patch(0, 0, 0, 'b','erasemode','xor'); 

graphic.seen_lm = plot3(0,0,0,'bo','erasemode','xor');
graphic.est_lm = plot3(0,0,0,'r.','erasemode','background');
graphic.est_pos = plot3(0,0,0,'b.','erasemode','xor');
